Hello everybody,could you please help me with reversing both camera stabilization servos in Arducopter 2 code?Where should I place "minus" sign? Thank you very much. Jakub/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-#if CAMERA_STABILIZER == ENABLEDvoid init_camera(){g.rc_camera_pitch.set_angle(4500);g.rc_camera_pitch.radio_min = 1000;g.rc_camera_pitch.radio_trim = 1500;g.rc_camera_pitch.radio_max = 2000;g.rc_camera_roll.set_angle(4500);g.rc_camera_roll.radio_min = 1000;g.rc_camera_roll.radio_trim = 1500;g.rc_camera_roll.radio_max = 2000;}voidcamera_stabilization(){g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.// allow control mixingg.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(-dcm.pitch_sensor);// dont allow control mixing//g.rc_camera_pitch.servo_out = dcm.pitch_sensor * -1;g.rc_camera_pitch.calc_pwm();APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);g.rc_camera_roll.servo_out = -dcm.roll_sensor;g.rc_camera_roll.calc_pwm();APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);//If you want to do control mixing use this function.// set servo_out to the control input from radio//rc_camera_roll = g.rc_2.control_mix(dcm.pitch_sensor);//rc_camera_roll.calc_pwm();}#endif
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g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here. // allow control mixing g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor); // dont allow control mixing //g.rc_camera_pitch.servo_out = -dcm.pitch_sensor * -1; g.rc_camera_pitch.calc_pwm(); APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out); g.rc_camera_roll.servo_out = dcm.roll_sensor; g.rc_camera_roll.calc_pwm(); APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out); //If you want to do control mixing use this function. // set servo_out to the control input from radio //rc_camera_roll = g.rc_2.control_mix(dcm.pitch_sensor); //rc_camera_roll.calc_pwm();
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here it is:
g.rc_camera_pitch.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
// allow control mixing
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(dcm.pitch_sensor);
// dont allow control mixing
//g.rc_camera_pitch.servo_out = -dcm.pitch_sensor * -1;
g.rc_camera_pitch.calc_pwm();
APM_RC.OutputCh(CH_5, g.rc_camera_pitch.radio_out);
g.rc_camera_roll.servo_out = dcm.roll_sensor;
g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_6, g.rc_camera_roll.radio_out);
//If you want to do control mixing use this function.
// set servo_out to the control input from radio
//rc_camera_roll = g.rc_2.control_mix(dcm.pitch_sensor);
//rc_camera_roll.calc_pwm();